Lidar.hh

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/*
 * Copyright 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_LIDAR_HH_
#define SDF_LIDAR_HH_
 
#include <gz/math/Angle.hh>
#include <gz/utils/ImplPtr.hh>
 
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/config.hh>
 
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  class SDFORMAT_VISIBLE Lidar
  {
    public: Lidar();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: sdf::ElementPtr Element() const;
 
    public: unsigned int HorizontalScanSamples() const;
 
    public: void SetHorizontalScanSamples(unsigned int _samples);
 
    public: double HorizontalScanResolution() const;
 
    public: void SetHorizontalScanResolution(double _res);
 
    public: gz::math::Angle HorizontalScanMinAngle() const;
 
    public: void SetHorizontalScanMinAngle(const gz::math::Angle &_min);
 
    public: gz::math::Angle HorizontalScanMaxAngle() const;
 
    public: void SetHorizontalScanMaxAngle(const gz::math::Angle &_max);
 
    public: unsigned int VerticalScanSamples() const;
 
    public: void SetVerticalScanSamples(unsigned int _samples);
 
    public: double VerticalScanResolution() const;
 
    public: void SetVerticalScanResolution(double _res);
 
    public: gz::math::Angle VerticalScanMinAngle() const;
 
    public: void SetVerticalScanMinAngle(const gz::math::Angle &_min);
 
    public: gz::math::Angle VerticalScanMaxAngle() const;
 
    public: void SetVerticalScanMaxAngle(const gz::math::Angle &_max);
 
    public: double RangeMin() const;
 
    public: void SetRangeMin(double _min);
 
    public: double RangeMax() const;
 
    public: void SetRangeMax(double _max);
 
    public: double RangeResolution() const;
 
    public: void SetRangeResolution(double _range);
 
    public: const Noise &LidarNoise() const;
 
    public: void SetLidarNoise(const Noise &_noise);
 
    public: uint32_t VisibilityMask() const;
 
    public: void SetVisibilityMask(uint32_t _mask);
 
    public: bool operator==(const Lidar &_lidar) const;
 
    public: bool operator!=(const Lidar &_lidar) const;
 
    public: sdf::ElementPtr ToElement() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif